论文标题
2 DOF机器人臂的新混合控制
New hybrid control of a 2 DoF Robot Arm
论文作者
论文摘要
机器人臂一直在不同的系统中使用，在所需轨迹中设计的控制是主要任务。同样，预计在运行时，开发的2DOF机器人臂将不断遇到摩擦力等噪音。因此，引入了一种新的积分滑动模式控制（NISMC），以抑制噪声的稳健性。然后，提出了新的混合控制系统（NHISMC），该系统不断计算错误值并将校正值应用于系统。这将增强轨迹并最小化跟踪误差。与其他两个控制器（例如传统的滑动模式控制（SMC）和NISMC）相比，实验结果证实了该方法的控制方法。
Robot arms have been using in different systems, which the control of designed in desired trajectory is the main task. Also, it is anticipated that while in operation the developed 2DoF robot arm will be constantly encountered with noises such as friction forces. A new integral sliding mode control (NISMC) is therefore being introduced to suppress noise due to its robustness. Then, New hybrid control system (NHISMC) is proposed, which constantly calculates an error value and applies a correction value to the system. This will enhance trajectory and minimize tracking error. In comparison with two other controllers, such as traditional sliding mode control (SMC) and NISMC, experimental results confirmed the efficacy of the proposed control method.
